Loading...
Searching...
No Matches
internal.hpp
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
*/
#ifndef PCL_GPU_OCTREE_INTERNAL_HPP_
#define PCL_GPU_OCTREE_INTERNAL_HPP_
#include <pcl/gpu/containers/device_array.h>
#include <pcl/gpu/octree/device_format.hpp>
#include <pcl/gpu/utils/safe_call.hpp>
namespace pcl
{
namespace device
{
struct OctreeGlobal
{
int *nodes;
int *codes;
int *begs;
int *ends;
int *nodes_num;
int *parent;
OctreeGlobal() : nodes(nullptr), codes(nullptr), begs(nullptr), ends(nullptr), nodes_num(nullptr), parent(nullptr) {}
};
struct OctreeGlobalWithBox : public OctreeGlobal
{
float3 minp, maxp;
};
class OctreeImpl
{
public:
using PointType = float4;
using PointArray = DeviceArray<PointType>;
using PointCloud = PointArray;
using Queries = PointArray;
using Radiuses = DeviceArray<float>;
using BatchResult = DeviceArray<int>;
using BatchResultSizes = DeviceArray<int>;
using BatchResultSqrDists = DeviceArray<float>;
using Indices = DeviceArray<int>;
using NeighborIndices = pcl::gpu::NeighborIndices;
static void get_gpu_arch_compiled_for(int& bin, int& ptr);
OctreeImpl() {};
void setCloud(const PointCloud& input_points);
void build();
void radiusSearchHost(const PointType& center, float radius, std::vector<int>& out, int max_nn) const;
void approxNearestSearchHost(const PointType& query, int& out_index, float& sqr_dist) const;
void radiusSearch(const Queries& queries, float radius, NeighborIndices& results);
void radiusSearch(const Queries& queries, const Radiuses& radiuses, NeighborIndices& results);
void radiusSearch(const Queries& queries, const Indices& indices, float radius, NeighborIndices& results);
void approxNearestSearch(const Queries& queries, NeighborIndices& results, BatchResultSqrDists& sqr_distance) const;
void nearestKSearchBatch(const Queries& queries, int k, NeighborIndices& results, BatchResultSqrDists& sqr_distances) const;
//just reference
PointCloud points;
// data
DeviceArray2D<float> points_sorted;
DeviceArray<int> codes;
DeviceArray<int> indices;
OctreeGlobalWithBox octreeGlobal;
//storage
DeviceArray2D<int> storage;
struct OctreeDataHost
{
std::vector<int> nodes;
std::vector<int> codes;
std::vector<int> begs;
std::vector<int> ends;
std::vector<int> indices;
std::vector<float> points_sorted;
int points_sorted_step;
int downloaded;
} host_octree;
void internalDownload();
private:
template<typename BatchType>
void radiusSearchEx(BatchType& batch, const Queries& queries, NeighborIndices& results);
};
void bruteForceRadiusSearch(const OctreeImpl::PointCloud& cloud, const OctreeImpl::PointType& query, float radius, DeviceArray<int>& result, DeviceArray<int>& buffer);
}
}
#endif /* PCL_GPU_OCTREE_INTERNAL_HPP_ */
pcl::device::OctreeImpl::octreeGlobal
OctreeGlobalWithBox octreeGlobal
Definition internal.hpp:111
pcl::device::OctreeImpl::BatchResultSizes
DeviceArray< int > BatchResultSizes
Definition internal.hpp:79
pcl::device::OctreeImpl::Queries
PointArray Queries
Definition internal.hpp:75
pcl::device::OctreeImpl::host_octree
struct pcl::device::OctreeImpl::OctreeDataHost host_octree
pcl::device::OctreeImpl::BatchResultSqrDists
DeviceArray< float > BatchResultSqrDists
Definition internal.hpp:80
pcl::device::OctreeImpl::radiusSearch
void radiusSearch(const Queries &queries, float radius, NeighborIndices &results)
pcl::device::OctreeImpl::points
PointCloud points
Definition internal.hpp:104
pcl::device::OctreeImpl::points_sorted
DeviceArray2D< float > points_sorted
Definition internal.hpp:107
pcl::device::OctreeImpl::Indices
DeviceArray< int > Indices
Definition internal.hpp:81
pcl::device::OctreeImpl::codes
DeviceArray< int > codes
Definition internal.hpp:108
pcl::device::OctreeImpl::get_gpu_arch_compiled_for
static void get_gpu_arch_compiled_for(int &bin, int &ptr)
pcl::device::OctreeImpl::Radiuses
DeviceArray< float > Radiuses
Definition internal.hpp:77
pcl::device::OctreeImpl::BatchResult
DeviceArray< int > BatchResult
Definition internal.hpp:78
pcl::device::OctreeImpl::build
void build()
pcl::device::OctreeImpl::nearestKSearchBatch
void nearestKSearchBatch(const Queries &queries, int k, NeighborIndices &results, BatchResultSqrDists &sqr_distances) const
pcl::device::OctreeImpl::OctreeImpl
OctreeImpl()
Definition internal.hpp:87
pcl::device::OctreeImpl::radiusSearchHost
void radiusSearchHost(const PointType &center, float radius, std::vector< int > &out, int max_nn) const
pcl::device::OctreeImpl::storage
DeviceArray2D< int > storage
Definition internal.hpp:114
pcl::device::OctreeImpl::internalDownload
void internalDownload()
pcl::device::OctreeImpl::PointCloud
PointArray PointCloud
Definition internal.hpp:74
pcl::device::OctreeImpl::setCloud
void setCloud(const PointCloud &input_points)
pcl::device::OctreeImpl::PointType
float4 PointType
Definition internal.hpp:71
pcl::device::OctreeImpl::indices
DeviceArray< int > indices
Definition internal.hpp:109
pcl::device::OctreeImpl::approxNearestSearchHost
void approxNearestSearchHost(const PointType &query, int &out_index, float &sqr_dist) const
pcl::device::OctreeImpl::radiusSearch
void radiusSearch(const Queries &queries, const Radiuses &radiuses, NeighborIndices &results)
pcl::device::OctreeImpl::PointArray
DeviceArray< PointType > PointArray
Definition internal.hpp:72
pcl::device::OctreeImpl::radiusSearch
void radiusSearch(const Queries &queries, const Indices &indices, float radius, NeighborIndices &results)
pcl::device::OctreeImpl::NeighborIndices
pcl::gpu::NeighborIndices NeighborIndices
Definition internal.hpp:83
pcl::device::OctreeImpl::approxNearestSearch
void approxNearestSearch(const Queries &queries, NeighborIndices &results, BatchResultSqrDists &sqr_distance) const
pcl::gpu::DeviceArray2D
DeviceArray2D class
Definition device_array.h:188
pcl::gpu::DeviceArray
DeviceArray class
Definition device_array.h:54
pcl::device
Definition device_array.h:315
pcl::device::bruteForceRadiusSearch
void bruteForceRadiusSearch(const OctreeImpl::PointCloud &cloud, const OctreeImpl::PointType &query, float radius, DeviceArray< int > &result, DeviceArray< int > &buffer)
pcl
Definition convolution.h:46
pcl::device::OctreeGlobal::ends
int * ends
Definition internal.hpp:53
pcl::device::OctreeGlobal::begs
int * begs
Definition internal.hpp:52
pcl::device::OctreeGlobal::nodes_num
int * nodes_num
Definition internal.hpp:55
pcl::device::OctreeGlobal::codes
int * codes
Definition internal.hpp:51
pcl::device::OctreeGlobal::parent
int * parent
Definition internal.hpp:57
pcl::device::OctreeGlobal::nodes
int * nodes
Definition internal.hpp:50
pcl::device::OctreeGlobal::OctreeGlobal
OctreeGlobal()
Definition internal.hpp:59
pcl::device::OctreeGlobalWithBox
Definition internal.hpp:63
pcl::device::OctreeGlobalWithBox::minp
float3 minp
Definition internal.hpp:64
pcl::device::OctreeGlobalWithBox::maxp
float3 maxp
Definition internal.hpp:64
pcl::device::OctreeImpl::OctreeDataHost
Definition internal.hpp:117
pcl::device::OctreeImpl::OctreeDataHost::downloaded
int downloaded
Definition internal.hpp:130
pcl::device::OctreeImpl::OctreeDataHost::nodes
std::vector< int > nodes
Definition internal.hpp:118
pcl::device::OctreeImpl::OctreeDataHost::points_sorted_step
int points_sorted_step
Definition internal.hpp:128
pcl::device::OctreeImpl::OctreeDataHost::ends
std::vector< int > ends
Definition internal.hpp:122
pcl::device::OctreeImpl::OctreeDataHost::codes
std::vector< int > codes
Definition internal.hpp:119
pcl::device::OctreeImpl::OctreeDataHost::begs
std::vector< int > begs
Definition internal.hpp:121
pcl::device::OctreeImpl::OctreeDataHost::indices
std::vector< int > indices
Definition internal.hpp:125
pcl::device::OctreeImpl::OctreeDataHost::points_sorted
std::vector< float > points_sorted
Definition internal.hpp:127
pcl::gpu::NeighborIndices
Definition device_format.hpp:47